Table 2.

Eighteen positions for calibrating the MIMU.

Position No.	1	2	3	4	5	6
Illustration
Description	z-upward, x-south, y-east	z-upward, x-north, y-west	z-downward, x-north, y-east	z-downward, x-north, y-west	y-upward, x-east, z-south	y-upward, x-west, z-north
Position No.	7	8	9	10	11	12
Illustration
Description	y-downward, x-east, z-north	y-downward, x-west, z-south	x-upward, y-south, z-east	x-upward, y-north, z-west	x-downward, y-north, z-east	x-downward, y-south, z-west
Position No.	13	14	15	16	17	18
Illustration
Description	y-east, z-north-upward with 45° pitch, x-south-upward with 45° pitch	y-east, z-south-downward with 45° pitch, x-north-downward with 45° pitch	x-east, y-north-upward with 45° pitch, z-south-upward with 45° pitch	x-east, y-south-downward with 45° pitch, z-north-downward with 45° pitch	z-east, x-north-upward with 45° pitch, y-south-upward with 45° pitch	z-east, x-south-downward with 45° pitch, y-north-downward with 45° pitch